CN113390728A - Full-automatic robot external measurement method hydrostatic test system and method - Google Patents
Full-automatic robot external measurement method hydrostatic test system and method Download PDFInfo
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- CN113390728A CN113390728A CN202110795310.7A CN202110795310A CN113390728A CN 113390728 A CN113390728 A CN 113390728A CN 202110795310 A CN202110795310 A CN 202110795310A CN 113390728 A CN113390728 A CN 113390728A
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- gas cylinder
- water
- bottle
- conveying line
- irrigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
- G01N3/10—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces generated by pneumatic or hydraulic pressure
- G01N3/12—Pressure testing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B15/00—Machines or apparatus for drying objects with progressive movement; Machines or apparatus with progressive movement for drying batches of material in compact form
- F26B15/10—Machines or apparatus for drying objects with progressive movement; Machines or apparatus with progressive movement for drying batches of material in compact form with movement in a path composed of one or more straight lines, e.g. compound, the movement being in alternate horizontal and vertical directions
- F26B15/12—Machines or apparatus for drying objects with progressive movement; Machines or apparatus with progressive movement for drying batches of material in compact form with movement in a path composed of one or more straight lines, e.g. compound, the movement being in alternate horizontal and vertical directions the lines being all horizontal or slightly inclined
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B23/00—Heating arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0001—Type of application of the stress
- G01N2203/0003—Steady
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0016—Tensile or compressive
- G01N2203/0019—Compressive
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/003—Generation of the force
- G01N2203/0042—Pneumatic or hydraulic means
- G01N2203/0048—Hydraulic means
Abstract
The invention belongs to the technical field of industrial production equipment, and relates to a full-automatic outer measuring method hydrostatic test system and method of a robot, the system comprises a bottle feeding conveying line and a bottle discharging conveying line which are used for conveying gas bottles, wherein one side or two sides of the bottle feeding conveying line are provided with an irrigation weighing device which is distributed in sequence along the extending direction of the irrigation weighing device, an industrial robot and a water pouring dryer, a bottle stirring device is connected between the water pouring dryer and the bottle discharging conveying line, the water pouring dryer further comprises a water pressure test device which is arranged on the different side of the bottle feeding conveying line relative to the industrial robot and is used for performing an outer measuring method water pressure test on the gas bottles, the industrial robot is used for grabbing the gas bottles on the bottle feeding conveying line and then sequentially carrying out the irrigation weighing device, the water pressure test device and the water pouring dryer are transmitted, the irrigation weighing device is used for weighing the water filled in the gas bottles and weighing the weight of the gas bottles before and after irrigation, and the water pouring dryer is used for pouring water and drying the inside of the gas bottles. The system can automatically complete a series of work such as state adjustment, conveying, water filling and weighing, hydrostatic test, water pouring and drying of the gas cylinder and the like.
Description
Technical Field
The invention belongs to the technical field of industrial production equipment, and particularly relates to a full-automatic outer measurement method hydraulic pressure test system and method for a robot.
Background
A gas cylinder for encapsulating pressure gas need carry out the hydrostatic test in process of production, and before carrying out the outer method hydrostatic test to the gas cylinder, need use pneumatic roll-over stand to carry out the gas cylinder upset around testing usually, still need use planer-type to move and carry out the handling of gas cylinder with machine or electric block, and accomplish the translation and the lift work of gas cylinder to use the roll-over stand to carry out the gas cylinder upset around testing, use dedicated drying machine that falls to accomplish automatically and fall water drying work etc.. Therefore, in the whole test process, in order to guarantee the test efficiency, only partial electric automation is realized, at least two persons are still needed to complete the work in a cooperative manner, the work is busy, and high attention needs to be focused.
Disclosure of Invention
In view of this, the present invention provides a full-automatic external measurement method hydrostatic test system and method for a robot, and aims to solve the problems of low automation degree and poor cooperative work efficiency in the hydrostatic test process of a gas cylinder.
In order to achieve the purpose, the invention provides a robot full-automatic external measurement method hydrostatic test system which comprises a bottle feeding conveying line and a bottle discharging conveying line, wherein the bottle feeding conveying line and the bottle discharging conveying line are used for conveying gas bottles, one side or two sides of the bottle feeding conveying line are provided with an irrigation weighing device, an industrial robot and a water pouring dryer which are sequentially distributed along the extending direction of the bottle feeding conveying line, a bottle shifting device is connected between the water pouring dryer and the bottle discharging conveying line, the robot further comprises a hydrostatic test device which is arranged opposite to the industrial robot and the bottle feeding conveying line and used for carrying out external measurement method hydrostatic test on the gas bottles, the industrial robot is used for grabbing the gas bottles on the bottle feeding conveying line and then sequentially transmitting the gas bottles to the irrigation weighing device, the hydrostatic test device and the water pouring dryer, the irrigation weighing device is used for weighing the weight of the gas bottles before and after irrigation, and the water pouring dryer is used for pouring the gas bottles and drying the insides of the gas bottles.
Furthermore, one side or both sides of the water pouring dryer are provided with bottle outlet conveying lines, and the bottle inlet conveying lines and the bottle outlet conveying lines are arranged in parallel, perpendicular, coaxial or on the same side.
Further, the industrial robot is a robot arm.
Further, the weighing device of watering is by frame A, weighing mechanism, guide rail A, positioning mechanism, the special pressure head of watering, the pressure head driver, lift rack A, the rack driver is constituteed, lift rack A passes through guide rail A and sets up on frame A, and be equipped with the rack driver that acts on lift rack A on frame A, be equipped with the special pressure head of watering and the positioning mechanism that correspond to arrange about being on the lift rack A, still be equipped with the pressure head driver that acts on the special pressure head of watering on the lift rack A, be equipped with weighing mechanism under the special pressure head of watering on the frame A and be located.
Furthermore, the hydraulic pressure test device comprises a hydraulic pressure lift, a water jacket and an operation and control assembly, wherein the hydraulic pressure lift comprises a frame B, a guide rail B, a lifting rack B, a water jacket cover and gas cylinder threaded joint automatic loading and unloading mechanism and a lifting driving assembly, the lifting rack B is arranged on the frame B through the guide rail B, the frame B is provided with the lifting driving assembly acting on the lifting rack B, the lifting rack B is provided with the water jacket cover and the gas cylinder threaded joint automatic loading and unloading mechanism which are positioned right above the water jacket, and the operation and control assembly is respectively connected with the water jacket and the hydraulic pressure lift.
Furthermore, the system also comprises a water jacket pit sinking on the ground, and the water jacket is arranged in the water jacket pit.
Further, the water pouring dryer comprises a rack C, a turnover driver, a turnover frame, a cone wheel power conveying mechanism, a hinged shaft, a clamping mechanism, a sealing mask and a blow pipe, wherein the turnover frame is arranged on the rack C through the hinged shaft, the rack C is provided with the turnover driver acting on the turnover frame, the turnover frame is provided with the cone wheel power conveying mechanism and the sealing mask, and the sealing mask is provided with the clamping mechanism and the blow pipe.
Furthermore, the system also comprises a pool pit which sinks on the ground, and the pool pit is positioned below the sealing mask.
Furthermore, the system also comprises an electric control cabinet which is electrically connected with the bottle feeding conveying line, the bottle discharging conveying line, the watering weighing device, the industrial robot, the water pouring dryer, the bottle pushing device and the water pressure testing device.
The invention also provides a robot full-automatic outer measurement method hydrostatic test method, which adopts the robot full-automatic outer measurement method hydrostatic test system, and the method comprises the following steps: the gas cylinder is input by a gas inlet conveying line; the industrial robot grabs the gas cylinders conveyed on the gas cylinder feeding conveying line and sends the gas cylinders to the water filling weighing device; the irrigation weighing device is used for finishing the irrigation of the gas cylinder and the weighing of the weight before and after the irrigation; the industrial robot again carries out the grabbing of the gas cylinder on the irrigation weighing device and sends the gas cylinder to the hydrostatic test device; the hydrostatic test device is used for completing an external measurement method hydrostatic test of the gas cylinder; carrying out the grabbing of the gas cylinder on the hydrostatic test device again by the industrial robot, and sending the gas cylinder to the water pouring dryer; pouring water and drying the inside of the gas cylinder by a water pouring dryer; the gas cylinder on the water pouring dryer is stirred by the bottle stirring device and is stirred to the bottle discharging conveying line.
The invention has the beneficial effects that: the full-automatic outer measuring method hydrostatic test system of the robot can automatically complete a series of work such as state adjustment, conveying, watering weighing, hydrostatic test, water pouring and drying of the gas cylinder when the system is used for the outer measuring method hydrostatic test of the gas cylinder. The automatic hydraulic test device has the advantages of simple and compact structure, flexible and variable arrangement, convenience in operation, capability of replacing manual carrying in a gas cylinder external measurement method hydraulic test, capability of effectively reducing the labor intensity of workers, improving the working efficiency, improving the operation safety, reducing the potential safety hazard, high production rhythm, small occupied area and the like.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic plan layout structure of a fully automatic external measurement method hydrostatic test system of the robot;
2-5 are schematic diagrams of other four plane arrangement structures of the robot full-automatic external measuring method hydrostatic test system;
FIG. 6 is a schematic view of a three-dimensional structure of an irrigation weighing device of the robot full-automatic external measurement method hydrostatic test system;
FIG. 7 is a side schematic view of FIG. 6;
FIG. 8 is a schematic side view of a hydrostatic test apparatus of the fully automatic outer measurement method hydrostatic test system of the robot;
FIG. 9 is a perspective view of the hydraulic lift of FIG. 8;
FIG. 10 is a schematic structural diagram of the front side of a water pouring dryer of the full-automatic outer measurement method hydrostatic test system of the robot;
fig. 11 is a schematic top view of fig. 10.
Reference numerals: the automatic bottle pouring and weighing system comprises a bottle feeding conveying line 1, an industrial robot 2, a water pouring weighing device 3, a water jacket 4, an electric control cabinet 5, a hydraulic lifter 6, a control assembly 7, a water jacket pit 8, a water pouring dryer 9, a water pool pit 10, a bottle pulling device 11, a bottle discharging conveying line 12 and a gas bottle 13; the device comprises a rack A31, a weighing mechanism 32, a guide rail A33, a positioning mechanism 34, a special irrigation pressure head 35, a pressure head driver 36, a lifting rack A37 and a rack driver 38; a frame B61, a guide rail B62, a lifting rack B63, a water jacket cover and gas cylinder threaded joint automatic loading and unloading mechanism 64 and a lifting driving assembly 65; a machine frame C91, a turnover driver 92, a turnover frame 93, a cone wheel power transmission mechanism 94, a hinge shaft 95, a clamping mechanism 96, a sealing mask 97 and a blow pipe 98.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
As shown in fig. 1, the robot full-automatic external measurement hydraulic test system mainly comprises a bottle feeding conveying line 1, an industrial robot 2, an irrigation weighing device 3, a hydraulic test device, an electric control cabinet 5, a pouring dryer 9, a bottle stirring device 11, a bottle discharging conveying line 12 and the like, wherein the bottle feeding conveying line 1 and the bottle discharging conveying line 12 are used for conveying gas bottles 13, one is used as an input, the other is used as an output, a plurality of groups of conical rollers arranged in pairs are uniformly distributed on the input and output conveying line to adapt to the appearance of the gas bottles 13 and facilitate conveying, the irrigation weighing device 3, the industrial robot 2 and the pouring dryer 9 are sequentially distributed on one side of the bottle feeding conveying line 1 along the extending direction of the input and output conveying line, the bottle stirring device 11 is further connected between the pouring dryer 9 and the bottle discharging conveying line 12, and the bottle stirring device 11 can be driven by a bottle stirring cylinder to perform lifting action, when the water pouring device is lifted, the gas cylinder in the equipment can be pulled out, then the gas cylinder is conveyed to the gas cylinder discharging conveying line 12 through the transverse moving of the gas cylinder, namely, the gas cylinder on the water pouring dryer 9 can be pulled out to the gas cylinder discharging conveying line 12 through the gas cylinder shifting device 11, the gas cylinder is conveyed outwards through the gas cylinder discharging conveying line 12, the water pressure test device which is arranged opposite to the industrial robot 2 and the gas cylinder feeding conveying line 1 and used for the gas cylinder 13 to carry out the water pressure test by an external measurement method is arranged, the industrial robot 2 is used for grabbing the gas cylinder 13 on the gas cylinder feeding conveying line 1 and then sequentially transmitting the grabbed gas cylinder 13 to the water pouring weighing device 3, the water pressure test device and the water pouring dryer 9, the water pouring weighing device 3 is used for weighing the water in the gas cylinder 13 and the weight before and after the water is poured, and the water pouring dryer 9 is used for pouring the gas cylinder 13 and drying the inside of the water.
Specifically, after the input of the gas cylinder 13 is transmitted by the gas inlet conveying line 1, the gas cylinder 13 is conveyed to a position according to the requirement; then the industrial robot 2 is responsible for conveying the gas cylinder 13 to the irrigation weighing device 3 according to the required state, and is responsible for automatically weighing the weight of the empty gas cylinder 13, the water of the gas cylinder 13 and the weight of the water added into the filled gas cylinder; the industrial robot 2 transmits the gas cylinder 13 to the hydrostatic test device, and is responsible for automatically completing the connection and sealing (connection and sealing removal) of the water jacket cover and the test gas cylinder, and the action of the test gas cylinder entering and exiting the water jacket 4 and the hydrostatic test; then the industrial robot 2 transfers the gas cylinder 13 to the water pouring dryer 9, and the water pouring dryer is responsible for automatically pouring water and drying the interior of the gas cylinder after the hydrostatic test; and the bottle pulling device 11 is used for conveying the gas bottle 13 which is subjected to water pouring and drying to a bottle outlet conveying line 12 and conveying the gas bottle outwards. By adopting the scheme, the full-automatic outer measuring method hydrostatic test system of the robot can automatically complete a series of work such as state adjustment, conveying, watering weighing, hydrostatic test, water pouring drying and the like of the gas cylinder in the outer measuring method hydrostatic test of the gas cylinder. The automatic hydraulic test device has the advantages of simple and compact structure, flexible and variable arrangement, convenience in operation, capability of replacing manual carrying in a gas cylinder external measurement method hydraulic test, capability of effectively reducing the labor intensity of workers, improving the working efficiency, improving the operation safety, reducing the potential safety hazard, high production rhythm, small occupied area and the like.
In addition, according to the arrangement form of the factory space, the floor space and the equipment, the bottle discharging conveying line 12 connected with the water pouring dryer 9 through the bottle pushing device 11 can be arranged coaxially with the bottle feeding conveying line 1, namely, the bottle feeding conveying line 1 and the bottle discharging conveying line 12 can be arranged in parallel and in different sides, as shown in fig. 2; or arranged in parallel and on the same side, as shown in figure 3; arranged perpendicular to each other, as shown in fig. 4; the filling water weighing device, the hydrostatic test device, the industrial robot and the water pouring dryer can be symmetrically arranged on two sides of the coaxially arranged bottle feeding conveying line 1 and the coaxially arranged bottle discharging conveying line 12, and the purposes of improving the working efficiency, flexibly arranging and the like can be achieved as shown in fig. 5.
The industrial robot 2 in this example employs a robot arm, and may be a robot arm having two or more axes. Through adopting industrial robot, can show promotion work efficiency to through being located industrial robot 2 watering weighing device 3, hydrostatic test device, advancing bottle transfer chain 1 and pouring desiccator 9's centre, can effectively utilize industrial robot's rotary motion to accomplish corresponding gas cylinder and operate as required. It should be understood by those skilled in the art that the bottle feeding conveying line 1, the water filling weighing device 3, the water pressure testing device and the water pouring dryer 9 arranged around the industrial robot 2 in the present embodiment are not necessarily arranged in sequence in a clockwise or counterclockwise direction as shown in the figure, and the system may also be implemented in a manner of exchanging the positions of the water pressure testing device and the water pouring dryer, but the rotation manner of the industrial robot may not necessarily be in a clockwise or counterclockwise motion only according to a series of process work sequences of conveying, water filling weighing, water pressure testing, water pouring drying and the like of the gas bottle 13.
As shown in fig. 6 and 7, the irrigation weighing device 3 in this example comprises a frame a31, a weighing mechanism 32, a guide rail a33, a positioning mechanism 34, a special irrigation ram 35, a ram drive 36, a lifting stand a37 and a stand drive 38, wherein, the lifting platform A37 is arranged on the frame A31 through a guide rail A33, and the frame A31 is also provided with a platform driver 38 acting on the lifting platform A37, the carriage driver 38 may employ a hydraulic cylinder, or an electric push rod, or a ball screw mechanism, etc., to achieve vertical up-and-down movement of the lift carriage a37 relative to the frame a31, the lifting rack A37 is provided with a special irrigation pressure head 35 and a positioning mechanism 34 which are correspondingly arranged up and down, the lifting rack A37 is also provided with a pressure head driver 36 which acts on the special irrigation pressure head 35, the pressure head driver 36 adopts an air cylinder, and a weighing mechanism 32 is also arranged on the frame A31 and is positioned right below the special irrigation pressure head 35.
Specifically, two guide rails a33 are fixed on a frame a31 in parallel, and a lifting rack a37 is fixedly connected with a slider (not shown) on the guide rail a33, so that the lifting rack a37 can move along the guide rail a33, and the guide rail a33 uses a linear slide rail; the fixed end of the rack driver 38 is connected with a rack A31, the moving end is connected with a lifting rack A37, so that the lifting rack A37 moves up and down along a guide rail A33 under the driving of the lifting rack A37, and can be matched with a displacement sensor (not shown) to perform real-time monitoring and automatic control of the lifting position, the device can be suitable for various gas cylinders 13 with different heights, the height position of the lifting rack A37 can be preset for the gas cylinders 13 with different heights, the special filling pressure head 35 can be inserted into the gas cylinders 13 in the driving stroke of the rack driver 38, and the gas cylinders are compressed to obtain the sealing of the end faces of bottle openings; the pressure head driver 36 is fixed on the top end of the lifting rack, and the moving end of the pressure head driver is connected with the special pressure head 35 for filling water, so that the pressure head can perform lifting action under the driving of the pressure head, and the central rod at the lower end of the pressure head is inserted into the opening of the gas cylinder 13. The special pressure head 35 for irrigation is internally provided with a special channel for irrigation and water-irrigation and air-exhaust, the outside of the irrigation channel is connected with a water source (tap water or a water pump), and the outside of the water-irrigation and air-exhaust channel is connected with a circulating water tank, so that air exhaust and overflow water exhaust in the irrigation process can be realized. The lower end of the special pressure head 35 for filling water is provided with a sealing ring and a central rod, the sealing ring is attached to the end face of the opening of the gas cylinder 13 under the driving of the pressure head driver 36 and reaches a low-pressure sealing state, and the central rod is inserted into the gas cylinder, so that the gas cylinder has no water leakage or overflows to the outer surface of the gas cylinder in the whole filling process. The positioning mechanism 34 comprises a V-shaped positioning claw and a positioning claw driver, namely the V-shaped positioning claws at two sides can synchronously and reversely move under the positioning claw driver, so that the clamping or loosening action of the gas cylinder is realized, the positioning mechanism is used for performing center positioning on the gas cylinder 13 placed on the rack A31 through clamping operation, the special pressure head 35 for water filling can be accurately inserted into the gas cylinder 13, the positioning claw driver uses a cylinder, the V-shaped positioning claw is fixed on mounting plates at two ends of the cylinder, and the synchronous and reverse movement of the V-shaped positioning claw can be accurately realized. Weighing machine structure 32 is fixed inside frame A31 bottom plate, by weighing lift drive ware, weighing sensor and gas cylinder layer board etc. constitute, place frame A31 when gas cylinder 13 on, gas cylinder bottom and frame A31 bottom plate contact this moment, but the gas cylinder layer board contactless with weighing machine structure, weighing lift drive ware action, make gas cylinder layer board and gas cylinder contact and with gas cylinder jack-up with weighing sensor and gas cylinder layer board jacking, make it break away from frame A31, accessible weighing sensor acquires gas cylinder weight (or the bottle weight of adding water) under the state this moment, its weighing lift drive ware uses the cylinder.
The simple description is that the action of the irrigation weighing device is as follows: first, the industrial robot 2 conveys the test cylinder 13 (vertical and with its mouth facing upwards) to the frame a31, and then the industrial robot 2 can perform other actions and adjust the lifting gantry a37 and its upper positioning mechanism 34 to the appropriate height relative to the cylinder 13 by means of the gantry driver 38; then, the weighing mechanism 32 is lifted, the weighing mechanism 32 is reset after the weighing sensor automatically acquires the weight of the gas cylinder 13, and the weight of the empty gas cylinder is weighed at the moment; then, the positioning mechanism 34 acts to clamp and position the gas cylinder 13, and the pressure head driver 36 acts to insert the special filling pressure head 35 into the gas cylinder 13; then, starting irrigation operation, and performing gas cylinder irrigation, wherein the irrigation process can be automatically controlled by a flow control method or a time control method, and automatically stopped after the water is filled; then, the pressure head driver 36 resets, the special pressure head 35 for watering exits from the opening of the gas cylinder, and meanwhile, the positioning mechanism 34 resets to loosen the gas cylinder; then, the weighing mechanism 32 is lifted, the weighing mechanism 32 is reset after the weighing sensor automatically acquires the weight of the gas cylinder after water is added, and at the moment, the weight of the gas cylinder after water is added is weighed; and finally, the industrial robot 2 acts to take out the gas cylinder which finishes the irrigation weighing operation and convey the gas cylinder to next process equipment, namely a hydrostatic test device.
As shown in fig. 8 and 9, the hydraulic test apparatus in this example includes a hydraulic lift 6, a water jacket 4, a control assembly 7 and a water jacket pit 8, wherein the hydraulic lift is composed of a frame B61, a guide rail B62, a lifting platform B63, a water jacket cover and gas cylinder screw joint automatic loading and unloading mechanism 64 and a lifting driving assembly 65, the lifting platform B63 is mounted on a frame B61 through a guide rail B62, the lifting driving assembly 65 acting on the lifting platform B63 is arranged on the frame B61, the lifting platform B63 is provided with a water jacket cover and gas cylinder screw joint automatic loading and unloading mechanism 64 located right above the water jacket 4, the control assembly 7 is respectively connected with the water jacket 4 and the hydraulic lift 6, the water jacket pit 8 sinks to the ground, and the water jacket 4 is arranged in the water jacket pit 8.
Specifically, two guide rails B62 are fixed in parallel on the frame B61, and the lifting stage B63 is fixedly connected to a slider (not shown) on the guide rail B62, so that the lifting stage B63 can move along the guide rail B62, in this example, a linear slide rail is used. The automatic water jacket cover and gas cylinder threaded connector assembling and disassembling mechanism 64 is an invention patent previously applied by the applicant, and has the application number of ZL200910028177.1, which is not described herein, and is fixedly installed on the lifting rack B63 and can move along with the lifting rack B63, and the automatic water jacket cover and gas cylinder threaded connector assembling and disassembling mechanism 64 can rotate forward and backward under the driving of a speed reducing motor therein, so that a connector with the lower end matched with the gas cylinder opening thread is screwed into (or screwed out of) the gas cylinder opening thread. When screwing in, the screw is automatically stopped when reaching a certain torque; and when the threads are completely screwed out, the automatic stop is realized. The sealing (or unsealing) work of the threaded connection with the mouth of the gas cylinder can be completed when needed. The lift drive assembly 65 may be hydraulic. The hydraulic cylinder telescopic mechanism comprises an oil cylinder, a shaft end pulley joint, a pulley, a chain and a hydraulic power unit, wherein one end of the shaft end pulley joint is fixedly connected with a shaft of the oil cylinder through threads, one end of the shaft end pulley joint is hinged with the pulley through a pin shaft and a bearing, the chain bypasses the pulley, one end of the chain is connected with a lifting rack B63, and the other end of the chain is connected with a rack B61. Of course, in different examples, the lifting motion can be realized by using a hydraulic type instead of a hydraulic type, such as a motor and a screw transmission. In addition, a position measuring device of the lifting platform B63, such as a displacement sensor, a laser distance measuring instrument and the like, can acquire the height position of the lifting platform B63 in real time and automatically control the movement by setting the upper limit position and the lower limit position of the lifting movement. The hydrostatic test device is also provided with a test pipeline system, a hydrostatic test special software system, a test control system and the like, and can be integrated and controlled by the control assembly 7.
The operation of the hydraulic test apparatus will be described below: firstly, the industrial robot 2 conveys a test gas cylinder (vertical and with an upward bottle opening) to the lower part of the equipment; then, the lifting driving assembly 65 acts, the oil cylinder resets, the lifting rack B63 together with the water jacket cover and the automatic gas cylinder threaded joint assembling and disassembling mechanism 64 descends, and the lifting driving assembly 65 stops working when the joint at the lower end of the water jacket cover and the automatic gas cylinder threaded joint assembling and disassembling mechanism 64 is inserted into the gas cylinder mouth thread (a sensor acquires a signal); then, the speed reduction motor of the automatic loading and unloading mechanism 64 for the water jacket cover and the gas cylinder threaded joint is started, the water jacket cover rotates, the joint at the lower end of the water jacket cover is screwed into the thread at the opening of the gas cylinder, and the rotation is stopped when a certain torque is reached; then, the industrial robot 2 loosens the gas cylinder 13; then, the cylinder for sealing inside the automatic assembling and disassembling mechanism 64 for the water jacket cover and the gas cylinder threaded joint is reset, and the threaded connection part of the gas cylinder opening is sealed; meanwhile, the lifting driving assembly 65 acts, the oil cylinder resets, the lifting rack B63, the water jacket cover, the automatic gas cylinder threaded joint loading and unloading mechanism 64 and the gas cylinder 13 continue to descend, the gas cylinder 13 is placed in the water jacket 4 of the water jacket pit 8 for testing below the product, and after the connection part of the water jacket cover and the water jacket is sealed, an external measurement method hydrostatic test of the gas cylinder 13 can be carried out; then, after the hydrostatic test by the external measurement method is completed, the sealing of the connecting part of the water jacket cover and the water jacket is released, the sealing of the threaded connecting part of the opening of the gas cylinder is released, the lifting driving component 65 acts, the oil cylinder is lifted, and the lifting rack B63, the water jacket cover, the gas cylinder threaded joint automatic loading and unloading mechanism 64 and the gas cylinder 13 ascend together and stop after reaching the target position; then, the industrial robot 2 moves to the lower part of the equipment to clamp the gas cylinder 13; then, the speed reduction motor of the automatic assembling and disassembling mechanism 64 for the water jacket cover and the threaded joint of the gas cylinder is started, the water jacket cover rotates, and the joint at the lower end of the water jacket cover is screwed out of the thread at the opening of the gas cylinder and then is stopped; finally, the lifting driving assembly 65 acts, the oil cylinder is lifted, and the lifting rack B63, the water jacket cover and the automatic assembly and disassembly mechanism 64 for the gas cylinder threaded connector ascend a little and then wait for the subsequent gas cylinder 13 to enter for testing; the industrial robot 2 conveys the tested gas cylinder 13 to subsequent equipment for other work, namely, the pouring dryer 9.
As shown in fig. 10 and 11, the tumble dryer 9 in this example includes a frame C91, a tumble driver 92, a roll-over frame 93, a cone wheel power transmission mechanism 94, a hinge shaft 95, a clamping mechanism 96, a sealed cover 97, a blow pipe 98, and a pool pit 10, wherein the roll-over frame 93 is disposed on the frame C91 through the hinge shaft 95, the frame C91 is provided with the tumble driver 92 acting on the roll-over frame 93, the tumble driver 92 employs a hydraulic cylinder, the roll-over frame 93 is provided with the cone wheel power transmission mechanism 94 and the sealed cover 97, the sealed cover 97 is provided with the clamping mechanism 96 and the blow pipe 98, the pool pit 10 sinks to the ground, and the pool pit 10 is located below the sealed cover 97.
Specifically, the roll-over stand 93 is connected with the frame C91 through a hinge shaft 95 with a bearing; the turning driver 92 is a cylinder, the tail of which is hinged with the frame C91, the end of the cylinder shaft is hinged with the turning frame 93, and the turning frame 93 and the gas cylinder 13 therein can be driven by the turning frame 93 to turn and turn over for resetting. The cone pulley power transmission mechanism 94 is composed of a plurality of groups of cone pulleys, a speed reduction motor, a transmission chain wheel and a chain, the groups of cone pulleys are all fixed on the roll-over stand 93 through a bearing with a seat, and can rotate forward and backward after being driven by the speed reduction motor and driven by the chain wheel and the chain, so that the gas cylinder placed on the cone pulley can move forward and backward along the axial direction. A clamping mechanism 96 for clamping the gas cylinder 13 is arranged above the overturning frame 93, and the gas cylinder 13 can be tightly pressed under the driving of a gas cylinder. The front end of the roll-over stand 93 is provided with a sealing mask 97 aiming at the mouth of the gas cylinder, the center of the sealing mask is consistent with the center of the gas cylinder 13, when the gas cylinder is in a state of being turned over and the mouth of the gas cylinder faces downwards, the arc surface of the shoulder of the gas cylinder is in contact with a sealing strip at the mouth of the sealing mask by using the dead weight of the gas cylinder, and sealing is formed. A blow pipe 98 is arranged in the sealing mask 97, the inner pipeline of the sealing mask is a pipeline for introducing the test ring into the gas cylinder, and the outer part of the sealing mask is an emptying area. For example: when compressed air is blown into the blow pipe 98, the compressed air is blown into the air bottle through the blow pipe, so that the water pouring under pressurization can be assisted; and water in the gas cylinder is discharged into a water pool below the equipment from the outside of the blow pipe and the inside of the sealing mask. The lifting device of the sealed mask 97 mainly comprises a micro motor, a screw rod and a screw rod nut. The micro motor is fixedly arranged at the front end of the roll-over stand 93, the screw rod nut is fixed on the sealed mask 97, one end of the screw rod is connected with the output shaft of the motor, and after penetrating through the screw rod nut, the other end of the screw rod is connected with the rack C91 through a bearing. The sealing mask 97 can move up and down under the drive of the micro motor and the transmission of the screw rod and the screw rod nut so as to meet the use requirements of gas cylinders with different diameters. The high position information that sealed gauze mask is located can be acquireed in real time to cooperation displacement sensor, and accessible electrical control according to the gas cylinder diameter specification that sets up in advance, adjusts the center height of sealed gauze mask.
The system in this embodiment further includes an electric control cabinet 5 electrically connected to the bottle feeding conveyor line 1, the bottle discharging conveyor line 12, the water filling weighing device 3, the industrial robot 2, the water pouring dryer 9, the bottle pushing device 11 and the water pressure testing device, so as to provide power and control.
The full-automatic outer measurement method hydraulic pressure test method of the robot comprises the following steps: the gas bottle 13 is input by the bottle input conveying line 1; then the industrial robot 2 grabs the gas cylinder 13 conveyed on the gas cylinder feeding conveying line 1 and sends the gas cylinder to the irrigation weighing device 3; then the irrigation weighing device 3 finishes the irrigation of the gas cylinder 13 and the weighing of the weight before and after irrigation; then the industrial robot 2 again carries out the grabbing of the gas cylinder 13 on the irrigation weighing device 3 and sends the gas cylinder to the hydrostatic test device; then, the hydrostatic test device completes the hydrostatic test of the gas cylinder 13 by an external measuring method; then the industrial robot 2 again carries out the grabbing of the gas cylinder 13 on the hydrostatic test device and sends the gas cylinder to the water pouring dryer 9; then the water pouring dryer 9 finishes the water pouring of the gas cylinder 13 and the drying of the interior of the gas cylinder; the gas bottle 13 on the pouring dryer 9 is shifted by the bottle shifting device 11 and is shifted to the bottle discharging conveying line 12.
Specifically, the gas cylinder 13 is conveyed to a position from the cylinder feeding conveying line 1; the industrial robot 2 grabs the gas cylinder 13 from the gas cylinder feeding conveying line 1, places the gas cylinder 13 on the automatic watering weighing device 3 according to a specified state (a state of being vertical and with the bottle opening facing upwards), and then can leave to execute other operations; the weighing mechanism 32 in the automatic water filling weighing device 3 is lifted to obtain the empty weight of the gas cylinder 13 and then reset (obtained by special software in the external measurement method hydrostatic test device); a positioning mechanism 34 in the irrigation weighing device 3 acts to clamp the gas cylinder 13 for positioning, and a pressure head driver 36 acts to press a special irrigation pressure head 35 on the gas cylinder 13, wherein the central pipe of the special irrigation pressure head is inserted into the gas cylinder 13; starting a water pump and a pipe valve to irrigate, and automatically stopping the pump and closing the pipe valve after the irrigation is finished by using a flow control method or a time control method; the pressure head driver 36 is connected with a special pressure head 35 for irrigation and the positioning mechanism 34 is reset; jacking a weighing mechanism 32 in the irrigation weighing device 3 to obtain the weight of the added water in the gas cylinder 13 and then resetting (obtaining by special software in the external measurement method hydrostatic test device and automatically calculating the actual measurement volume of the gas cylinder); the industrial robot 2 grabs the gas cylinder 13 which finishes watering and weighing, and conveys the gas cylinder to the lower part of the hydraulic lifter 6 according to the required state (the state that the gas cylinder is vertical and the bottle mouth is upward); after the hydraulic pressure lifter 6 descends to the position below the water jacket cover and the automatic gas cylinder threaded connector assembling and disassembling mechanism 64 and the connecting connector is inserted into the bottle opening, the hydraulic pressure lifter stops descending, the motor of the automatic water jacket cover and gas cylinder threaded connector assembling and disassembling mechanism 64 is started to install the water jacket cover, the connection between the automatic water jacket cover and the test gas cylinder 13 is completed, and the automatic water jacket cover assembling and disassembling mechanism automatically stops when a set torque is reached; the sealing cylinder inside the automatic assembling and disassembling mechanism 64 for the water jacket cover and the gas cylinder threaded joint is reset to complete the sealing of the threaded connection part of the gas cylinder opening; the industrial robot 2 loosens the gas cylinder 13 and may then leave to perform other operations; the hydraulic lifter 6 continues to descend until the gas cylinder 13 is completely placed in the water jacket 4, and the water jacket airbag is inflated to seal the joint part of the water jacket and the water jacket cover; carrying out an external measurement method hydrostatic test on the gas cylinder by using an external measurement method hydrostatic test device; after the test is finished, the air bag of the water jacket is deflated to release the sealing of the joint of the water jacket and the water jacket cover, and simultaneously, the sealing cylinder inside the automatic assembling and disassembling mechanism 64 for the water jacket cover and the gas cylinder threaded joint is lifted to release the sealing of the threaded joint of the opening of the gas cylinder; the hydraulic lifter 6 ascends to take the gas cylinder 13 out of the water jacket 4, and the ascending is automatically stopped when the gas cylinder reaches the set height; the industrial robot 2 grasps the gas cylinder 13, starts the motor of the automatic water jacket cover and gas cylinder threaded joint assembling and disassembling mechanism 64 to reversely rotate to disassemble the water jacket cover, and automatically stops after the disassembly is finished; the industrial robot 2 grabs the gas cylinder 13 to place the gas cylinder on the fully automatic pouring dryer 9 and then can leave to perform other operations; the cone wheel power transmission mechanism 94 of the full-automatic water pouring dryer 9 is started, the gas cylinder 13 is conveyed forwards, so that the mouth of the gas cylinder is inserted into the sealing mask 97, and the cone wheel power transmission mechanism 94 is automatically stopped; the overturning driver 92 of the water pouring dryer 9 is started to overturn the overturning frame 93 together with the gas cylinder 13, and meanwhile, the clamping mechanism 96 is started to press the gas cylinder 13 tightly; after the roll-over stand 93 is rolled over to the right position, a pipeline valve of a water pouring auxiliary medium (compressed air or other compressed gas) is opened, and the water pouring auxiliary medium is blown into the gas cylinder 13 through a blow pipe 98 in the sealed mask 97 to carry out pressurization water pouring; setting the working duration and closing the pipeline valve; opening a pipeline valve of an auxiliary drying medium (such as hot water, heated compressed gas, saturated steam and the like) in the gas cylinder, and blowing the auxiliary drying medium into the gas cylinder 13 through a blowing pipe 98 in a sealing mask 97 to heat and dry the interior of the gas cylinder; setting the working duration and closing the pipeline valve; opening a valve of a cooling medium (compressed air or other compressed gas) pipeline, and blowing the cooling medium into the gas cylinder 13 through a blow pipe 98 in a sealing mask 97 for cooling and drying; setting the working duration and closing the pipeline valve; the overturning driver 92 of the full-automatic water pouring dryer 9 is started to overturn and reset the overturning frame 93 together with the gas cylinder 13, and meanwhile, the clamping mechanism 96 is reset to loosen the gas cylinder 13; after the turning reset is completed, the cone wheel power conveying mechanism 94 of the full-automatic water pouring dryer 9 starts to turn reversely, the gas cylinder 13 is conveyed backwards to enable the bottle mouth to exit from the sealing mask 97, and the cone wheel power conveying mechanism 94 stops automatically; and finally, the gas cylinder 13 is pushed out of the full-automatic water pouring dryer 9 to a gas cylinder outlet conveying line 12 through the jacking of the gas cylinder pushing device 11, so that a series of work such as gas cylinder state adjustment, conveying, water pouring weighing, water pressure test, water pouring drying and the like can be automatically completed.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (10)
1. The full-automatic hydraulic test system of the external measurement method of the robot is characterized by comprising a bottle feeding conveying line (1) and a bottle discharging conveying line (12) which are used for conveying gas bottles (13), wherein one side or two sides of the bottle feeding conveying line are provided with an irrigation weighing device (3), an industrial robot (2) and a water pouring dryer (9) which are sequentially distributed along the extending direction of the bottle feeding conveying line, a bottle poking device (11) is connected between the water pouring dryer and the bottle discharging conveying line, the hydraulic test system also comprises a hydraulic test device which is arranged opposite to the industrial robot and the bottle feeding conveying line and is used for carrying out the hydraulic test of the external measurement method of the gas bottles, the industrial robot is used for grabbing the gas bottles on the bottle feeding conveying line and then sequentially carrying out the irrigation weighing device, the water pressure testing device is transferred with the water pouring dryer, the water pouring weighing device is used for water filling of the gas cylinder and weighing of the weight before and after water filling, and the water pouring dryer is used for water pouring of the gas cylinder and drying of the interior of the gas cylinder.
2. The robotic full-automatic lateral hydraulic test system of claim 1, wherein one or both sides of the dewatering dryer are provided with bottle outlet conveyor lines, and the bottle inlet conveyor lines and the bottle outlet conveyor lines are arranged in parallel, perpendicular, coaxial or the same side.
3. The robotic fully-automatic lateral hydrostatic test system of claim 1, wherein the industrial robot is a robotic arm.
4. The full-automatic hydraulic test system of the external measurement method of the robot of claim 1, wherein the irrigation weighing device is composed of a frame A (31), a weighing mechanism (32), a guide rail A (33), a positioning mechanism (34), a special irrigation pressure head (35), a pressure head driver (36), a lifting rack A (37) and a rack driver (38), the lifting rack A is arranged on the frame A through the guide rail A, the rack A is provided with the rack driver acting on the lifting rack A, the lifting rack A is provided with the special irrigation pressure head and the positioning mechanism which are arranged in an up-down corresponding manner, the lifting rack A is further provided with the pressure head driver acting on the special irrigation pressure head, and the frame A is provided with the weighing mechanism under the special irrigation pressure head.
5. The full-automatic hydraulic test system of the external measurement method of the robot according to claim 1, wherein the hydraulic test device comprises a hydraulic lift (6), a water jacket (4) and a control assembly (7), the hydraulic lift comprises a frame B (61), a guide rail B (62), a lifting rack B (63), a water jacket cover and gas cylinder threaded joint automatic loading and unloading mechanism (64) and a lifting driving assembly (65), the lifting rack B is arranged on the frame B through the guide rail B, the frame B is provided with the lifting driving assembly acting on the lifting rack B, the lifting rack B is provided with the water jacket cover and the gas cylinder threaded joint automatic loading and unloading mechanism which are positioned right above the water jacket, and the control assembly is respectively connected with the water jacket and the hydraulic lift.
6. The robot full-automatic hydraulic test system of the outside survey method according to claim 5, characterized in that the system further comprises a water jacket pit (8) sinking to the ground, and the water jacket is arranged in the water jacket pit.
7. The full-automatic hydraulic test system of the external measurement method of the robot as claimed in claim 1, wherein the water pouring dryer is composed of a frame C (91), a turnover driver (92), a turnover frame (93), a cone wheel power transmission mechanism (94), a hinge shaft (95), a clamping mechanism (96), a sealing mask (97) and a blow pipe (98), the turnover frame is arranged on the frame C through the hinge shaft, the frame C is provided with the turnover driver acting on the turnover frame, the turnover frame is provided with the cone wheel power transmission mechanism and the sealing mask, and the sealing mask is provided with the clamping mechanism and the blow pipe.
8. The system according to claim 7, further comprising a sink (10) which is submerged in the ground, wherein the sink is located below the sealed mask.
9. The robot full-automatic outer measuring method hydrostatic test system according to claim 1, characterized in that the system further comprises an electric control cabinet (5) electrically connected with the bottle feeding conveying line, the bottle discharging conveying line, the watering weighing device, the industrial robot, the water pouring dryer, the bottle pushing device and the hydrostatic test device.
10. The method for the robot full-automatic hydraulic pressure test of the outside survey method is characterized in that the system for the robot full-automatic hydraulic pressure test of the outside survey method as claimed in any one of claims 1 to 9 is adopted, and the method comprises the following steps:
the gas cylinder is input by a gas inlet conveying line;
the industrial robot grabs the gas cylinders conveyed on the gas cylinder feeding conveying line and sends the gas cylinders to the water filling weighing device;
the irrigation weighing device is used for finishing the irrigation of the gas cylinder and the weighing of the weight before and after the irrigation;
the industrial robot again carries out the grabbing of the gas cylinder on the irrigation weighing device and sends the gas cylinder to the hydrostatic test device;
the hydrostatic test device is used for completing an external measurement method hydrostatic test of the gas cylinder;
carrying out the grabbing of the gas cylinder on the hydrostatic test device again by the industrial robot, and sending the gas cylinder to the water pouring dryer;
pouring water and drying the inside of the gas cylinder by a water pouring dryer;
the gas cylinder on the water pouring dryer is stirred by the bottle stirring device and is stirred to the bottle discharging conveying line.
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| CN202110795310.7A CN113390728A (en) | 2021-07-14 | 2021-07-14 | Full-automatic robot external measurement method hydrostatic test system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114235262A (en) * | 2021-11-17 | 2022-03-25 | 济南三泉中石实验仪器有限公司 | Automatic internal pressure test system of beer bottle |
| CN114593883A (en) * | 2022-01-25 | 2022-06-07 | 浙江威能消防器材股份有限公司 | Gas cylinder hydrostatic test equipment and test method |
-
2021
- 2021-07-14 CN CN202110795310.7A patent/CN113390728A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114235262A (en) * | 2021-11-17 | 2022-03-25 | 济南三泉中石实验仪器有限公司 | Automatic internal pressure test system of beer bottle |
| CN114235262B (en) * | 2021-11-17 | 2024-03-01 | 济南三泉中石实验仪器有限公司 | Automatic internal pressure test system of beer bottle |
| CN114593883A (en) * | 2022-01-25 | 2022-06-07 | 浙江威能消防器材股份有限公司 | Gas cylinder hydrostatic test equipment and test method |
| CN114593883B (en) * | 2022-01-25 | 2024-03-08 | 浙江威能消防器材股份有限公司 | Gas cylinder water pressure test equipment and test method |
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